{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "69114969",
   "metadata": {},
   "outputs": [],
   "source": [
    "!pip install matplotlib --quiet\n",
    "import glob\n",
    "import math\n",
    "from matplotlib import pyplot as plt\n",
    "import nvdiffrast\n",
    "import os\n",
    "import torch\n",
    "\n",
    "from tutorial_common import COMMON_DATA_DIR\n",
    "import kaolin as kal\n",
    "\n",
    "nvctx = nvdiffrast.torch.RasterizeCudaContext(device='cuda')"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "dd8f9d9e",
   "metadata": {},
   "source": [
    "## Load Mesh information"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "id": "4963d2ce",
   "metadata": {},
   "outputs": [
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "Mesh material type <class 'dict'> is not PBRMaterial; no support for device conversions\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "SurfaceMesh object with batching strategy FIXED\n",
      "            vertices: [1, 5002, 3] (torch.float32)[cuda:0]  - [min -0.5000, max 0.5000, mean 0.0200] \n",
      "               faces: [10000, 3] (torch.int64)[cuda:0]  - [min 0.0000, max 5001.0000, mean 2471.1404] \n",
      "                 uvs: [1, 5505, 2] (torch.float32)[cuda:0]  - [min 0.0264, max 0.9860, mean 0.5422] \n",
      "        face_uvs_idx: [1, 10000, 3] (torch.int64)[cuda:0]  - [min 0.0000, max 5504.0000, mean 2662.6140] \n",
      "material_assignments: [1, 10000] (torch.int16)[cuda:0]  - [min 0.0000, max 0.0000, mean 0.0000] \n",
      "           materials: [\n",
      "                      0: list of length 1\n",
      "                      ]\n",
      "       face_vertices: if possible, computed on access from: (faces, vertices)\n",
      "        face_normals: if possible, computed on access from: (normals, face_normals_idx) or (vertex_normals, faces) or (vertices, faces)\n",
      "            face_uvs: if possible, computed on access from: (uvs, face_uvs_idx)\n",
      "      vertex_normals: if possible, computed on access from: (faces, face_normals)\n",
      "     vertex_tangents: if possible, computed on access from: (faces, face_vertices, face_uvs, vertex_normals)\n",
      "       vertex_colors: if possible, computed on access from: (faces, face_colors)\n",
      "     vertex_features: if possible, computed on access from: (faces, face_features)\n",
      "       face_tangents: if possible, computed on access from: (faces, vertex_tangents)\n",
      "         face_colors: if possible, computed on access from: (faces, vertex_colors)\n",
      "       face_features: if possible, computed on access from: (faces, vertex_features)\n"
     ]
    }
   ],
   "source": [
    "# Set KAOLIN_TEST_SHAPENETV2_PATH env variable, or replace by your shapenet path\n",
    "SHAPENETV2_PATH = os.getenv('KAOLIN_TEST_SHAPENETV2_PATH')\n",
    "\n",
    "if SHAPENETV2_PATH is not None:\n",
    "    ds = kal.io.shapenet.ShapeNetV2(root=SHAPENETV2_PATH,\n",
    "                                    categories=['car'],\n",
    "                                    train=True, split=1.,\n",
    "                                    with_materials=True,\n",
    "                                    output_dict=True)\n",
    "    mesh = ds[0]['mesh']\n",
    "else:\n",
    "    # Load a specific obj instead\n",
    "    OBJ_PATH = os.path.join(COMMON_DATA_DIR, 'meshes', 'fox.obj')\n",
    "    mesh = kal.io.obj.import_mesh(OBJ_PATH, with_materials=True, triangulate=True)\n",
    "\n",
    "# Batch, move to GPU and center and normalize vertices in the range [-0.5, 0.5]\n",
    "mesh = mesh.to_batched().cuda()\n",
    "mesh.vertices = kal.ops.pointcloud.center_points(mesh.vertices, normalize=True)\n",
    "print(mesh.to_string(print_stats=True))\n",
    "\n",
    "# Preprocess OBJ materials into a format we will use for rendering \n",
    "materials = [m['map_Kd'].unsqueeze(0).cuda().float() / 255. if 'map_Kd' in m else\n",
    "             m['Kd'].reshape(1, 1, 1, 3).cuda()\n",
    "             for m in mesh.materials[0]]\n",
    "\n",
    "# Use a single diffuse color as backup when map doesn't exist (and face_uvs_idx == -1)\n",
    "mesh.uvs = torch.nn.functional.pad(mesh.uvs, (0, 0, 0, 1))\n",
    "mesh.face_uvs_idx[mesh.face_uvs_idx == -1] = mesh.uvs.shape[1] - 1"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "03e898f4",
   "metadata": {},
   "source": [
    "## Instantiate a camera\n",
    "\n",
    "With the general constructor `Camera.from_args()` the underlying constructors are `CameraExtrinsics.from_lookat()` and `PinholeIntrinsics.from_fov`"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "id": "c6eee7ab",
   "metadata": {},
   "outputs": [],
   "source": [
    "cam = kal.render.camera.Camera.from_args(eye=torch.tensor([2., 0., 0.]),\n",
    "                                         at=torch.tensor([0., 0., 0.]),\n",
    "                                         up=torch.tensor([0., 1., 0.]),\n",
    "                                         fov=math.pi * 45 / 180,\n",
    "                                         width=512, height=512, device='cuda')"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "4fff8eb1",
   "metadata": {},
   "source": [
    "## Rendering a mesh\n",
    "\n",
    "Here we are rendering the loaded mesh with [nvdiffrast](https://github.com/NVlabs/nvdiffrast) using the camera object created above"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "id": "5e4b8a49",
   "metadata": {},
   "outputs": [],
   "source": [
    "def render(mesh, cam):\n",
    "    vertices_camera = cam.extrinsics.transform(mesh.vertices)\n",
    "    face_vertices_camera = kal.ops.mesh.index_vertices_by_faces(\n",
    "        vertices_camera, mesh.faces)\n",
    "    face_normals_z = kal.ops.mesh.face_normals(\n",
    "        face_vertices_camera,\n",
    "        unit=True\n",
    "    )[..., -1:].contiguous()\n",
    "    \n",
    "    # Create a fake W (See nvdiffrast documentation)\n",
    "    proj = cam.projection_matrix()[None]\n",
    "    homogeneous_vecs = kal.render.camera.up_to_homogeneous(\n",
    "        vertices_camera\n",
    "    )[..., None]\n",
    "\n",
    "    vertices_clip = (proj @ homogeneous_vecs).squeeze(-1)\n",
    "\n",
    "    rast = nvdiffrast.torch.rasterize(\n",
    "        nvctx, vertices_clip, mesh.faces.int(),\n",
    "        (cam.height, cam.width), grad_db=False\n",
    "    )\n",
    "    rast0 = torch.flip(rast[0], dims=(1,))\n",
    "    hard_mask = rast0[:, :, :, -1:] != 0\n",
    "    face_idx = (rast0[..., -1].long() - 1).contiguous()\n",
    "\n",
    "    uv_map = nvdiffrast.torch.interpolate(\n",
    "        mesh.uvs, rast0, mesh.face_uvs_idx[0, ...].int()\n",
    "    )[0] % 1.\n",
    "\n",
    "    img = torch.zeros((1, 512, 512, 3), dtype=torch.float, device='cuda')\n",
    "    # Obj meshes can be composed of multiple materials\n",
    "    # so at rendering we need to interpolate from corresponding materials\n",
    "    im_material_idx = mesh.material_assignments[0, ...][face_idx]  # Assume single assignments map\n",
    "    im_material_idx[face_idx == -1] = -1\n",
    "    for i, material in enumerate(materials):\n",
    "        mask = im_material_idx == i\n",
    "        mask_idx = torch.nonzero(mask, as_tuple=False)\n",
    "        _texcoords = uv_map[mask]\n",
    "        if _texcoords.shape[0] > 0:\n",
    "            pixel_val = nvdiffrast.torch.texture(\n",
    "                materials[i].contiguous(),\n",
    "                _texcoords.reshape(1, 1, -1, 2).contiguous(),\n",
    "                filter_mode='linear'\n",
    "            )\n",
    "            img[mask] = pixel_val[0, 0]\n",
    "\n",
    "    # Need to flip the image because opengl\n",
    "    return torch.clamp(img * hard_mask, 0., 1.)[0]"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "4978003c",
   "metadata": {},
   "source": [
    "# Moving the camera\n",
    "\n",
    "Once the camera is created you can move it using `cam.move_up()`, `cam.move_right` and `cam.move_forward()`.\n",
    "\n",
    "To be noted that in OpenGL `forward` in the camera space is actually toward the viewer (so it actually move away from the object looked at)\n",
    "\n",
    "<img src=\"./assets/ndc_camera_space.png\"\n",
    "     alt=\"Markdown Monster icon\"\n",
    "     style=\"float:left;margin-right:10px;width:400px\" />\n",
    "<img src=\"./assets/ndc_image_space.png\"\n",
    "     alt=\"Markdown Monster icon\"\n",
    "     style=\"float:left;margin-right:10px;width:300px\" />\n",
    "\n",
    "Below is a simple interactive rendering, where buttons are linked to camera methods for moving it."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "id": "83dd84cf",
   "metadata": {
    "tags": []
   },
   "outputs": [
    {
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       "         * The worst that happens here is that they get an extra browser\n",
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       "        on_mouse_event_closure('figure_enter')\n",
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       "\n",
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       "\n",
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       "    canvas_div.appendChild(rubberband_canvas);\n",
       "\n",
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       "\n",
       "    this._resize_canvas = function (width, height, forward) {\n",
       "        if (forward) {\n",
       "            canvas_div.style.width = width + 'px';\n",
       "            canvas_div.style.height = height + 'px';\n",
       "        }\n",
       "    };\n",
       "\n",
       "    // Disable right mouse context menu.\n",
       "    canvas_div.addEventListener('contextmenu', function (_e) {\n",
       "        event.preventDefault();\n",
       "        return false;\n",
       "    });\n",
       "\n",
       "    function set_focus() {\n",
       "        canvas.focus();\n",
       "        canvas_div.focus();\n",
       "    }\n",
       "\n",
       "    window.setTimeout(set_focus, 100);\n",
       "};\n",
       "\n",
       "mpl.figure.prototype._init_toolbar = function () {\n",
       "    var fig = this;\n",
       "\n",
       "    var toolbar = document.createElement('div');\n",
       "    toolbar.classList = 'mpl-toolbar';\n",
       "    this.root.appendChild(toolbar);\n",
       "\n",
       "    function on_click_closure(name) {\n",
       "        return function (_event) {\n",
       "            return fig.toolbar_button_onclick(name);\n",
       "        };\n",
       "    }\n",
       "\n",
       "    function on_mouseover_closure(tooltip) {\n",
       "        return function (event) {\n",
       "            if (!event.currentTarget.disabled) {\n",
       "                return fig.toolbar_button_onmouseover(tooltip);\n",
       "            }\n",
       "        };\n",
       "    }\n",
       "\n",
       "    fig.buttons = {};\n",
       "    var buttonGroup = document.createElement('div');\n",
       "    buttonGroup.classList = 'mpl-button-group';\n",
       "    for (var toolbar_ind in mpl.toolbar_items) {\n",
       "        var name = mpl.toolbar_items[toolbar_ind][0];\n",
       "        var tooltip = mpl.toolbar_items[toolbar_ind][1];\n",
       "        var image = mpl.toolbar_items[toolbar_ind][2];\n",
       "        var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
       "\n",
       "        if (!name) {\n",
       "            /* Instead of a spacer, we start a new button group. */\n",
       "            if (buttonGroup.hasChildNodes()) {\n",
       "                toolbar.appendChild(buttonGroup);\n",
       "            }\n",
       "            buttonGroup = document.createElement('div');\n",
       "            buttonGroup.classList = 'mpl-button-group';\n",
       "            continue;\n",
       "        }\n",
       "\n",
       "        var button = (fig.buttons[name] = document.createElement('button'));\n",
       "        button.classList = 'mpl-widget';\n",
       "        button.setAttribute('role', 'button');\n",
       "        button.setAttribute('aria-disabled', 'false');\n",
       "        button.addEventListener('click', on_click_closure(method_name));\n",
       "        button.addEventListener('mouseover', on_mouseover_closure(tooltip));\n",
       "\n",
       "        var icon_img = document.createElement('img');\n",
       "        icon_img.src = '_images/' + image + '.png';\n",
       "        icon_img.srcset = '_images/' + image + '_large.png 2x';\n",
       "        icon_img.alt = tooltip;\n",
       "        button.appendChild(icon_img);\n",
       "\n",
       "        buttonGroup.appendChild(button);\n",
       "    }\n",
       "\n",
       "    if (buttonGroup.hasChildNodes()) {\n",
       "        toolbar.appendChild(buttonGroup);\n",
       "    }\n",
       "\n",
       "    var fmt_picker = document.createElement('select');\n",
       "    fmt_picker.classList = 'mpl-widget';\n",
       "    toolbar.appendChild(fmt_picker);\n",
       "    this.format_dropdown = fmt_picker;\n",
       "\n",
       "    for (var ind in mpl.extensions) {\n",
       "        var fmt = mpl.extensions[ind];\n",
       "        var option = document.createElement('option');\n",
       "        option.selected = fmt === mpl.default_extension;\n",
       "        option.innerHTML = fmt;\n",
       "        fmt_picker.appendChild(option);\n",
       "    }\n",
       "\n",
       "    var status_bar = document.createElement('span');\n",
       "    status_bar.classList = 'mpl-message';\n",
       "    toolbar.appendChild(status_bar);\n",
       "    this.message = status_bar;\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.request_resize = function (x_pixels, y_pixels) {\n",
       "    // Request matplotlib to resize the figure. Matplotlib will then trigger a resize in the client,\n",
       "    // which will in turn request a refresh of the image.\n",
       "    this.send_message('resize', { width: x_pixels, height: y_pixels });\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.send_message = function (type, properties) {\n",
       "    properties['type'] = type;\n",
       "    properties['figure_id'] = this.id;\n",
       "    this.ws.send(JSON.stringify(properties));\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.send_draw_message = function () {\n",
       "    if (!this.waiting) {\n",
       "        this.waiting = true;\n",
       "        this.ws.send(JSON.stringify({ type: 'draw', figure_id: this.id }));\n",
       "    }\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_save = function (fig, _msg) {\n",
       "    var format_dropdown = fig.format_dropdown;\n",
       "    var format = format_dropdown.options[format_dropdown.selectedIndex].value;\n",
       "    fig.ondownload(fig, format);\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_resize = function (fig, msg) {\n",
       "    var size = msg['size'];\n",
       "    if (size[0] !== fig.canvas.width || size[1] !== fig.canvas.height) {\n",
       "        fig._resize_canvas(size[0], size[1], msg['forward']);\n",
       "        fig.send_message('refresh', {});\n",
       "    }\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_rubberband = function (fig, msg) {\n",
       "    var x0 = msg['x0'] / fig.ratio;\n",
       "    var y0 = (fig.canvas.height - msg['y0']) / fig.ratio;\n",
       "    var x1 = msg['x1'] / fig.ratio;\n",
       "    var y1 = (fig.canvas.height - msg['y1']) / fig.ratio;\n",
       "    x0 = Math.floor(x0) + 0.5;\n",
       "    y0 = Math.floor(y0) + 0.5;\n",
       "    x1 = Math.floor(x1) + 0.5;\n",
       "    y1 = Math.floor(y1) + 0.5;\n",
       "    var min_x = Math.min(x0, x1);\n",
       "    var min_y = Math.min(y0, y1);\n",
       "    var width = Math.abs(x1 - x0);\n",
       "    var height = Math.abs(y1 - y0);\n",
       "\n",
       "    fig.rubberband_context.clearRect(\n",
       "        0,\n",
       "        0,\n",
       "        fig.canvas.width / fig.ratio,\n",
       "        fig.canvas.height / fig.ratio\n",
       "    );\n",
       "\n",
       "    fig.rubberband_context.strokeRect(min_x, min_y, width, height);\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_figure_label = function (fig, msg) {\n",
       "    // Updates the figure title.\n",
       "    fig.header.textContent = msg['label'];\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_cursor = function (fig, msg) {\n",
       "    fig.canvas_div.style.cursor = msg['cursor'];\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_message = function (fig, msg) {\n",
       "    fig.message.textContent = msg['message'];\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_draw = function (fig, _msg) {\n",
       "    // Request the server to send over a new figure.\n",
       "    fig.send_draw_message();\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_image_mode = function (fig, msg) {\n",
       "    fig.image_mode = msg['mode'];\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_history_buttons = function (fig, msg) {\n",
       "    for (var key in msg) {\n",
       "        if (!(key in fig.buttons)) {\n",
       "            continue;\n",
       "        }\n",
       "        fig.buttons[key].disabled = !msg[key];\n",
       "        fig.buttons[key].setAttribute('aria-disabled', !msg[key]);\n",
       "    }\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_navigate_mode = function (fig, msg) {\n",
       "    if (msg['mode'] === 'PAN') {\n",
       "        fig.buttons['Pan'].classList.add('active');\n",
       "        fig.buttons['Zoom'].classList.remove('active');\n",
       "    } else if (msg['mode'] === 'ZOOM') {\n",
       "        fig.buttons['Pan'].classList.remove('active');\n",
       "        fig.buttons['Zoom'].classList.add('active');\n",
       "    } else {\n",
       "        fig.buttons['Pan'].classList.remove('active');\n",
       "        fig.buttons['Zoom'].classList.remove('active');\n",
       "    }\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.updated_canvas_event = function () {\n",
       "    // Called whenever the canvas gets updated.\n",
       "    this.send_message('ack', {});\n",
       "};\n",
       "\n",
       "// A function to construct a web socket function for onmessage handling.\n",
       "// Called in the figure constructor.\n",
       "mpl.figure.prototype._make_on_message_function = function (fig) {\n",
       "    return function socket_on_message(evt) {\n",
       "        if (evt.data instanceof Blob) {\n",
       "            var img = evt.data;\n",
       "            if (img.type !== 'image/png') {\n",
       "                /* FIXME: We get \"Resource interpreted as Image but\n",
       "                 * transferred with MIME type text/plain:\" errors on\n",
       "                 * Chrome.  But how to set the MIME type?  It doesn't seem\n",
       "                 * to be part of the websocket stream */\n",
       "                img.type = 'image/png';\n",
       "            }\n",
       "\n",
       "            /* Free the memory for the previous frames */\n",
       "            if (fig.imageObj.src) {\n",
       "                (window.URL || window.webkitURL).revokeObjectURL(\n",
       "                    fig.imageObj.src\n",
       "                );\n",
       "            }\n",
       "\n",
       "            fig.imageObj.src = (window.URL || window.webkitURL).createObjectURL(\n",
       "                img\n",
       "            );\n",
       "            fig.updated_canvas_event();\n",
       "            fig.waiting = false;\n",
       "            return;\n",
       "        } else if (\n",
       "            typeof evt.data === 'string' &&\n",
       "            evt.data.slice(0, 21) === 'data:image/png;base64'\n",
       "        ) {\n",
       "            fig.imageObj.src = evt.data;\n",
       "            fig.updated_canvas_event();\n",
       "            fig.waiting = false;\n",
       "            return;\n",
       "        }\n",
       "\n",
       "        var msg = JSON.parse(evt.data);\n",
       "        var msg_type = msg['type'];\n",
       "\n",
       "        // Call the  \"handle_{type}\" callback, which takes\n",
       "        // the figure and JSON message as its only arguments.\n",
       "        try {\n",
       "            var callback = fig['handle_' + msg_type];\n",
       "        } catch (e) {\n",
       "            console.log(\n",
       "                \"No handler for the '\" + msg_type + \"' message type: \",\n",
       "                msg\n",
       "            );\n",
       "            return;\n",
       "        }\n",
       "\n",
       "        if (callback) {\n",
       "            try {\n",
       "                // console.log(\"Handling '\" + msg_type + \"' message: \", msg);\n",
       "                callback(fig, msg);\n",
       "            } catch (e) {\n",
       "                console.log(\n",
       "                    \"Exception inside the 'handler_\" + msg_type + \"' callback:\",\n",
       "                    e,\n",
       "                    e.stack,\n",
       "                    msg\n",
       "                );\n",
       "            }\n",
       "        }\n",
       "    };\n",
       "};\n",
       "\n",
       "function getModifiers(event) {\n",
       "    var mods = [];\n",
       "    if (event.ctrlKey) {\n",
       "        mods.push('ctrl');\n",
       "    }\n",
       "    if (event.altKey) {\n",
       "        mods.push('alt');\n",
       "    }\n",
       "    if (event.shiftKey) {\n",
       "        mods.push('shift');\n",
       "    }\n",
       "    if (event.metaKey) {\n",
       "        mods.push('meta');\n",
       "    }\n",
       "    return mods;\n",
       "}\n",
       "\n",
       "/*\n",
       " * return a copy of an object with only non-object keys\n",
       " * we need this to avoid circular references\n",
       " * https://stackoverflow.com/a/24161582/3208463\n",
       " */\n",
       "function simpleKeys(original) {\n",
       "    return Object.keys(original).reduce(function (obj, key) {\n",
       "        if (typeof original[key] !== 'object') {\n",
       "            obj[key] = original[key];\n",
       "        }\n",
       "        return obj;\n",
       "    }, {});\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.mouse_event = function (event, name) {\n",
       "    if (name === 'button_press') {\n",
       "        this.canvas.focus();\n",
       "        this.canvas_div.focus();\n",
       "    }\n",
       "\n",
       "    // from https://stackoverflow.com/q/1114465\n",
       "    var boundingRect = this.canvas.getBoundingClientRect();\n",
       "    var x = (event.clientX - boundingRect.left) * this.ratio;\n",
       "    var y = (event.clientY - boundingRect.top) * this.ratio;\n",
       "\n",
       "    this.send_message(name, {\n",
       "        x: x,\n",
       "        y: y,\n",
       "        button: event.button,\n",
       "        step: event.step,\n",
       "        modifiers: getModifiers(event),\n",
       "        guiEvent: simpleKeys(event),\n",
       "    });\n",
       "\n",
       "    return false;\n",
       "};\n",
       "\n",
       "mpl.figure.prototype._key_event_extra = function (_event, _name) {\n",
       "    // Handle any extra behaviour associated with a key event\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.key_event = function (event, name) {\n",
       "    // Prevent repeat events\n",
       "    if (name === 'key_press') {\n",
       "        if (event.key === this._key) {\n",
       "            return;\n",
       "        } else {\n",
       "            this._key = event.key;\n",
       "        }\n",
       "    }\n",
       "    if (name === 'key_release') {\n",
       "        this._key = null;\n",
       "    }\n",
       "\n",
       "    var value = '';\n",
       "    if (event.ctrlKey && event.key !== 'Control') {\n",
       "        value += 'ctrl+';\n",
       "    }\n",
       "    else if (event.altKey && event.key !== 'Alt') {\n",
       "        value += 'alt+';\n",
       "    }\n",
       "    else if (event.shiftKey && event.key !== 'Shift') {\n",
       "        value += 'shift+';\n",
       "    }\n",
       "\n",
       "    value += 'k' + event.key;\n",
       "\n",
       "    this._key_event_extra(event, name);\n",
       "\n",
       "    this.send_message(name, { key: value, guiEvent: simpleKeys(event) });\n",
       "    return false;\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.toolbar_button_onclick = function (name) {\n",
       "    if (name === 'download') {\n",
       "        this.handle_save(this, null);\n",
       "    } else {\n",
       "        this.send_message('toolbar_button', { name: name });\n",
       "    }\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.toolbar_button_onmouseover = function (tooltip) {\n",
       "    this.message.textContent = tooltip;\n",
       "};\n",
       "\n",
       "///////////////// REMAINING CONTENT GENERATED BY embed_js.py /////////////////\n",
       "// prettier-ignore\n",
       "var _JSXTOOLS_RESIZE_OBSERVER=function(A){var t,i=new WeakMap,n=new WeakMap,a=new WeakMap,r=new WeakMap,o=new Set;function s(e){if(!(this instanceof s))throw new TypeError(\"Constructor requires 'new' operator\");i.set(this,e)}function h(){throw new TypeError(\"Function is not a constructor\")}function c(e,t,i,n){e=0 in arguments?Number(arguments[0]):0,t=1 in arguments?Number(arguments[1]):0,i=2 in arguments?Number(arguments[2]):0,n=3 in arguments?Number(arguments[3]):0,this.right=(this.x=this.left=e)+(this.width=i),this.bottom=(this.y=this.top=t)+(this.height=n),Object.freeze(this)}function d(){t=requestAnimationFrame(d);var s=new WeakMap,p=new Set;o.forEach((function(t){r.get(t).forEach((function(i){var r=t instanceof window.SVGElement,o=a.get(t),d=r?0:parseFloat(o.paddingTop),f=r?0:parseFloat(o.paddingRight),l=r?0:parseFloat(o.paddingBottom),u=r?0:parseFloat(o.paddingLeft),g=r?0:parseFloat(o.borderTopWidth),m=r?0:parseFloat(o.borderRightWidth),w=r?0:parseFloat(o.borderBottomWidth),b=u+f,F=d+l,v=(r?0:parseFloat(o.borderLeftWidth))+m,W=g+w,y=r?0:t.offsetHeight-W-t.clientHeight,E=r?0:t.offsetWidth-v-t.clientWidth,R=b+v,z=F+W,M=r?t.width:parseFloat(o.width)-R-E,O=r?t.height:parseFloat(o.height)-z-y;if(n.has(t)){var k=n.get(t);if(k[0]===M&&k[1]===O)return}n.set(t,[M,O]);var S=Object.create(h.prototype);S.target=t,S.contentRect=new c(u,d,M,O),s.has(i)||(s.set(i,[]),p.add(i)),s.get(i).push(S)}))})),p.forEach((function(e){i.get(e).call(e,s.get(e),e)}))}return s.prototype.observe=function(i){if(i instanceof window.Element){r.has(i)||(r.set(i,new Set),o.add(i),a.set(i,window.getComputedStyle(i)));var n=r.get(i);n.has(this)||n.add(this),cancelAnimationFrame(t),t=requestAnimationFrame(d)}},s.prototype.unobserve=function(i){if(i instanceof window.Element&&r.has(i)){var n=r.get(i);n.has(this)&&(n.delete(this),n.size||(r.delete(i),o.delete(i))),n.size||r.delete(i),o.size||cancelAnimationFrame(t)}},A.DOMRectReadOnly=c,A.ResizeObserver=s,A.ResizeObserverEntry=h,A}; // eslint-disable-line\n",
       "mpl.toolbar_items = [[\"Home\", \"Reset original view\", \"fa fa-home\", \"home\"], [\"Back\", \"Back to previous view\", \"fa fa-arrow-left\", \"back\"], [\"Forward\", \"Forward to next view\", \"fa fa-arrow-right\", \"forward\"], [\"\", \"\", \"\", \"\"], [\"Pan\", \"Left button pans, Right button zooms\\nx/y fixes axis, CTRL fixes aspect\", \"fa fa-arrows\", \"pan\"], [\"Zoom\", \"Zoom to rectangle\\nx/y fixes axis\", \"fa fa-square-o\", \"zoom\"], [\"\", \"\", \"\", \"\"], [\"Download\", \"Download plot\", \"fa fa-floppy-o\", \"download\"]];\n",
       "\n",
       "mpl.extensions = [\"eps\", \"jpeg\", \"pgf\", \"pdf\", \"png\", \"ps\", \"raw\", \"svg\", \"tif\", \"webp\"];\n",
       "\n",
       "mpl.default_extension = \"png\";/* global mpl */\n",
       "\n",
       "var comm_websocket_adapter = function (comm) {\n",
       "    // Create a \"websocket\"-like object which calls the given IPython comm\n",
       "    // object with the appropriate methods. Currently this is a non binary\n",
       "    // socket, so there is still some room for performance tuning.\n",
       "    var ws = {};\n",
       "\n",
       "    ws.binaryType = comm.kernel.ws.binaryType;\n",
       "    ws.readyState = comm.kernel.ws.readyState;\n",
       "    function updateReadyState(_event) {\n",
       "        if (comm.kernel.ws) {\n",
       "            ws.readyState = comm.kernel.ws.readyState;\n",
       "        } else {\n",
       "            ws.readyState = 3; // Closed state.\n",
       "        }\n",
       "    }\n",
       "    comm.kernel.ws.addEventListener('open', updateReadyState);\n",
       "    comm.kernel.ws.addEventListener('close', updateReadyState);\n",
       "    comm.kernel.ws.addEventListener('error', updateReadyState);\n",
       "\n",
       "    ws.close = function () {\n",
       "        comm.close();\n",
       "    };\n",
       "    ws.send = function (m) {\n",
       "        //console.log('sending', m);\n",
       "        comm.send(m);\n",
       "    };\n",
       "    // Register the callback with on_msg.\n",
       "    comm.on_msg(function (msg) {\n",
       "        //console.log('receiving', msg['content']['data'], msg);\n",
       "        var data = msg['content']['data'];\n",
       "        if (data['blob'] !== undefined) {\n",
       "            data = {\n",
       "                data: new Blob(msg['buffers'], { type: data['blob'] }),\n",
       "            };\n",
       "        }\n",
       "        // Pass the mpl event to the overridden (by mpl) onmessage function.\n",
       "        ws.onmessage(data);\n",
       "    });\n",
       "    return ws;\n",
       "};\n",
       "\n",
       "mpl.mpl_figure_comm = function (comm, msg) {\n",
       "    // This is the function which gets called when the mpl process\n",
       "    // starts-up an IPython Comm through the \"matplotlib\" channel.\n",
       "\n",
       "    var id = msg.content.data.id;\n",
       "    // Get hold of the div created by the display call when the Comm\n",
       "    // socket was opened in Python.\n",
       "    var element = document.getElementById(id);\n",
       "    var ws_proxy = comm_websocket_adapter(comm);\n",
       "\n",
       "    function ondownload(figure, _format) {\n",
       "        window.open(figure.canvas.toDataURL());\n",
       "    }\n",
       "\n",
       "    var fig = new mpl.figure(id, ws_proxy, ondownload, element);\n",
       "\n",
       "    // Call onopen now - mpl needs it, as it is assuming we've passed it a real\n",
       "    // web socket which is closed, not our websocket->open comm proxy.\n",
       "    ws_proxy.onopen();\n",
       "\n",
       "    fig.parent_element = element;\n",
       "    fig.cell_info = mpl.find_output_cell(\"<div id='\" + id + \"'></div>\");\n",
       "    if (!fig.cell_info) {\n",
       "        console.error('Failed to find cell for figure', id, fig);\n",
       "        return;\n",
       "    }\n",
       "    fig.cell_info[0].output_area.element.on(\n",
       "        'cleared',\n",
       "        { fig: fig },\n",
       "        fig._remove_fig_handler\n",
       "    );\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_close = function (fig, msg) {\n",
       "    var width = fig.canvas.width / fig.ratio;\n",
       "    fig.cell_info[0].output_area.element.off(\n",
       "        'cleared',\n",
       "        fig._remove_fig_handler\n",
       "    );\n",
       "    fig.resizeObserverInstance.unobserve(fig.canvas_div);\n",
       "\n",
       "    // Update the output cell to use the data from the current canvas.\n",
       "    fig.push_to_output();\n",
       "    var dataURL = fig.canvas.toDataURL();\n",
       "    // Re-enable the keyboard manager in IPython - without this line, in FF,\n",
       "    // the notebook keyboard shortcuts fail.\n",
       "    IPython.keyboard_manager.enable();\n",
       "    fig.parent_element.innerHTML =\n",
       "        '<img src=\"' + dataURL + '\" width=\"' + width + '\">';\n",
       "    fig.close_ws(fig, msg);\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.close_ws = function (fig, msg) {\n",
       "    fig.send_message('closing', msg);\n",
       "    // fig.ws.close()\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.push_to_output = function (_remove_interactive) {\n",
       "    // Turn the data on the canvas into data in the output cell.\n",
       "    var width = this.canvas.width / this.ratio;\n",
       "    var dataURL = this.canvas.toDataURL();\n",
       "    this.cell_info[1]['text/html'] =\n",
       "        '<img src=\"' + dataURL + '\" width=\"' + width + '\">';\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.updated_canvas_event = function () {\n",
       "    // Tell IPython that the notebook contents must change.\n",
       "    IPython.notebook.set_dirty(true);\n",
       "    this.send_message('ack', {});\n",
       "    var fig = this;\n",
       "    // Wait a second, then push the new image to the DOM so\n",
       "    // that it is saved nicely (might be nice to debounce this).\n",
       "    setTimeout(function () {\n",
       "        fig.push_to_output();\n",
       "    }, 1000);\n",
       "};\n",
       "\n",
       "mpl.figure.prototype._init_toolbar = function () {\n",
       "    var fig = this;\n",
       "\n",
       "    var toolbar = document.createElement('div');\n",
       "    toolbar.classList = 'btn-toolbar';\n",
       "    this.root.appendChild(toolbar);\n",
       "\n",
       "    function on_click_closure(name) {\n",
       "        return function (_event) {\n",
       "            return fig.toolbar_button_onclick(name);\n",
       "        };\n",
       "    }\n",
       "\n",
       "    function on_mouseover_closure(tooltip) {\n",
       "        return function (event) {\n",
       "            if (!event.currentTarget.disabled) {\n",
       "                return fig.toolbar_button_onmouseover(tooltip);\n",
       "            }\n",
       "        };\n",
       "    }\n",
       "\n",
       "    fig.buttons = {};\n",
       "    var buttonGroup = document.createElement('div');\n",
       "    buttonGroup.classList = 'btn-group';\n",
       "    var button;\n",
       "    for (var toolbar_ind in mpl.toolbar_items) {\n",
       "        var name = mpl.toolbar_items[toolbar_ind][0];\n",
       "        var tooltip = mpl.toolbar_items[toolbar_ind][1];\n",
       "        var image = mpl.toolbar_items[toolbar_ind][2];\n",
       "        var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
       "\n",
       "        if (!name) {\n",
       "            /* Instead of a spacer, we start a new button group. */\n",
       "            if (buttonGroup.hasChildNodes()) {\n",
       "                toolbar.appendChild(buttonGroup);\n",
       "            }\n",
       "            buttonGroup = document.createElement('div');\n",
       "            buttonGroup.classList = 'btn-group';\n",
       "            continue;\n",
       "        }\n",
       "\n",
       "        button = fig.buttons[name] = document.createElement('button');\n",
       "        button.classList = 'btn btn-default';\n",
       "        button.href = '#';\n",
       "        button.title = name;\n",
       "        button.innerHTML = '<i class=\"fa ' + image + ' fa-lg\"></i>';\n",
       "        button.addEventListener('click', on_click_closure(method_name));\n",
       "        button.addEventListener('mouseover', on_mouseover_closure(tooltip));\n",
       "        buttonGroup.appendChild(button);\n",
       "    }\n",
       "\n",
       "    if (buttonGroup.hasChildNodes()) {\n",
       "        toolbar.appendChild(buttonGroup);\n",
       "    }\n",
       "\n",
       "    // Add the status bar.\n",
       "    var status_bar = document.createElement('span');\n",
       "    status_bar.classList = 'mpl-message pull-right';\n",
       "    toolbar.appendChild(status_bar);\n",
       "    this.message = status_bar;\n",
       "\n",
       "    // Add the close button to the window.\n",
       "    var buttongrp = document.createElement('div');\n",
       "    buttongrp.classList = 'btn-group inline pull-right';\n",
       "    button = document.createElement('button');\n",
       "    button.classList = 'btn btn-mini btn-primary';\n",
       "    button.href = '#';\n",
       "    button.title = 'Stop Interaction';\n",
       "    button.innerHTML = '<i class=\"fa fa-power-off icon-remove icon-large\"></i>';\n",
       "    button.addEventListener('click', function (_evt) {\n",
       "        fig.handle_close(fig, {});\n",
       "    });\n",
       "    button.addEventListener(\n",
       "        'mouseover',\n",
       "        on_mouseover_closure('Stop Interaction')\n",
       "    );\n",
       "    buttongrp.appendChild(button);\n",
       "    var titlebar = this.root.querySelector('.ui-dialog-titlebar');\n",
       "    titlebar.insertBefore(buttongrp, titlebar.firstChild);\n",
       "};\n",
       "\n",
       "mpl.figure.prototype._remove_fig_handler = function (event) {\n",
       "    var fig = event.data.fig;\n",
       "    if (event.target !== this) {\n",
       "        // Ignore bubbled events from children.\n",
       "        return;\n",
       "    }\n",
       "    fig.close_ws(fig, {});\n",
       "};\n",
       "\n",
       "mpl.figure.prototype._root_extra_style = function (el) {\n",
       "    el.style.boxSizing = 'content-box'; // override notebook setting of border-box.\n",
       "};\n",
       "\n",
       "mpl.figure.prototype._canvas_extra_style = function (el) {\n",
       "    // this is important to make the div 'focusable\n",
       "    el.setAttribute('tabindex', 0);\n",
       "    // reach out to IPython and tell the keyboard manager to turn it's self\n",
       "    // off when our div gets focus\n",
       "\n",
       "    // location in version 3\n",
       "    if (IPython.notebook.keyboard_manager) {\n",
       "        IPython.notebook.keyboard_manager.register_events(el);\n",
       "    } else {\n",
       "        // location in version 2\n",
       "        IPython.keyboard_manager.register_events(el);\n",
       "    }\n",
       "};\n",
       "\n",
       "mpl.figure.prototype._key_event_extra = function (event, _name) {\n",
       "    // Check for shift+enter\n",
       "    if (event.shiftKey && event.which === 13) {\n",
       "        this.canvas_div.blur();\n",
       "        // select the cell after this one\n",
       "        var index = IPython.notebook.find_cell_index(this.cell_info[0]);\n",
       "        IPython.notebook.select(index + 1);\n",
       "    }\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_save = function (fig, _msg) {\n",
       "    fig.ondownload(fig, null);\n",
       "};\n",
       "\n",
       "mpl.find_output_cell = function (html_output) {\n",
       "    // Return the cell and output element which can be found *uniquely* in the notebook.\n",
       "    // Note - this is a bit hacky, but it is done because the \"notebook_saving.Notebook\"\n",
       "    // IPython event is triggered only after the cells have been serialised, which for\n",
       "    // our purposes (turning an active figure into a static one), is too late.\n",
       "    var cells = IPython.notebook.get_cells();\n",
       "    var ncells = cells.length;\n",
       "    for (var i = 0; i < ncells; i++) {\n",
       "        var cell = cells[i];\n",
       "        if (cell.cell_type === 'code') {\n",
       "            for (var j = 0; j < cell.output_area.outputs.length; j++) {\n",
       "                var data = cell.output_area.outputs[j];\n",
       "                if (data.data) {\n",
       "                    // IPython >= 3 moved mimebundle to data attribute of output\n",
       "                    data = data.data;\n",
       "                }\n",
       "                if (data['text/html'] === html_output) {\n",
       "                    return [cell, data, j];\n",
       "                }\n",
       "            }\n",
       "        }\n",
       "    }\n",
       "};\n",
       "\n",
       "// Register the function which deals with the matplotlib target/channel.\n",
       "// The kernel may be null if the page has been refreshed.\n",
       "if (IPython.notebook.kernel !== null) {\n",
       "    IPython.notebook.kernel.comm_manager.register_target(\n",
       "        'matplotlib',\n",
       "        mpl.mpl_figure_comm\n",
       "    );\n",
       "}\n"
      ],
      "text/plain": [
       "<IPython.core.display.Javascript object>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
      "text/html": [
       "<div id='845fbbe7-01c7-4259-8f85-011d92f4ea15'></div>"
      ],
      "text/plain": [
       "<IPython.core.display.HTML object>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
      "text/plain": [
       "0"
      ]
     },
     "execution_count": 5,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "try:\n",
    "    ipy_str = str(type(get_ipython()))\n",
    "    if 'zmqshell' in ipy_str:\n",
    "        %matplotlib notebook\n",
    "finally:\n",
    "    pass\n",
    "\n",
    "from matplotlib.widgets import Button\n",
    "\n",
    "fig, ax = plt.subplots()\n",
    "plt.subplots_adjust(bottom=0.3)\n",
    "im_buffer = plt.imshow(render(mesh, cam).cpu())\n",
    "\n",
    "def update():\n",
    "    \"\"\"Update the image buffer\"\"\"\n",
    "    im_buffer.set_data(render(mesh, cam).cpu())\n",
    "    plt.draw()\n",
    "\n",
    "def on_button_up_clicked(b):\n",
    "    \"\"\"Callback on Up\"\"\"\n",
    "    cam.move_up(0.1)\n",
    "    update()\n",
    "\n",
    "def on_button_down_clicked(b):\n",
    "    \"\"\"Callback on Down\"\"\"\n",
    "    cam.move_up(-0.1)\n",
    "    update()\n",
    "\n",
    "def on_button_left_clicked(b):\n",
    "    \"\"\"Callback on Left\"\"\"\n",
    "    cam.move_right(-0.1)\n",
    "    update()\n",
    "\n",
    "def on_button_right_clicked(b):\n",
    "    \"\"\"Callback on Right\"\"\"\n",
    "    cam.move_right(0.1)\n",
    "    update()\n",
    "\n",
    "def on_button_forward_clicked(b):\n",
    "    \"\"\"Callback on Forward\n",
    "    \n",
    "    Note: Forward is actually on the back of the camera\n",
    "    \"\"\"\n",
    "    cam.move_forward(0.1)\n",
    "    update()\n",
    "    \n",
    "def on_button_backward_clicked(b):\n",
    "    \"\"\"Callback on Backward\n",
    "    \n",
    "    Note: Forward is actually on the back of the camera\n",
    "    \"\"\"\n",
    "    cam.move_forward(-0.1)\n",
    "    update()\n",
    "\n",
    "def on_button_increase_pitch_clicked(b):\n",
    "    \"\"\"Callback on increasing Pitch\"\"\"\n",
    "    cam.rotate(pitch=0.1)\n",
    "    update()\n",
    "    \n",
    "def on_button_decrease_pitch_clicked(b):\n",
    "    \"\"\"Callback on decreasing Pitch\"\"\"\n",
    "    cam.rotate(pitch=-0.1)\n",
    "    update()\n",
    "    \n",
    "def on_button_increase_yaw_clicked(b):\n",
    "    \"\"\"Callback on increasing Yaw\"\"\"\n",
    "    cam.rotate(yaw=0.1)\n",
    "    update()\n",
    "    \n",
    "def on_button_decrease_yaw_clicked(b):\n",
    "    \"\"\"Callback on decreasing Yaw\"\"\"\n",
    "    cam.rotate(yaw=-0.1)\n",
    "    update()\n",
    "    \n",
    "def on_button_increase_roll_clicked(b):\n",
    "    \"\"\"Callback on increasing Roll\"\"\"\n",
    "    cam.rotate(roll=0.1)\n",
    "    update()\n",
    "    \n",
    "def on_button_decrease_roll_clicked(b):\n",
    "    \"\"\"Callback on decreasing Roll\"\"\"\n",
    "    cam.rotate(roll=-0.1)\n",
    "    update()\n",
    "    \n",
    "up_ax = plt.axes([0.0, 0.14, 0.14, 0.08])\n",
    "left_ax = plt.axes([0.15, 0.14, 0.14, 0.08])\n",
    "down_ax = plt.axes([0.3, 0.14, 0.14, 0.08])\n",
    "right_ax = plt.axes([0.45, 0.14, 0.14, 0.08])\n",
    "forward_ax = plt.axes([0.6, 0.14, 0.14, 0.08])\n",
    "backward_ax = plt.axes([0.75, 0.14, 0.14, 0.08])\n",
    "increase_pitch_ax = plt.axes([0.0, 0.05, 0.14, 0.08])\n",
    "decrease_pitch_ax = plt.axes([0.15, 0.05, 0.14, 0.08])\n",
    "increase_yaw_ax = plt.axes([0.3, 0.05, 0.14, 0.08])\n",
    "decrease_yaw_ax = plt.axes([0.45, 0.05, 0.14, 0.08])\n",
    "increase_roll_ax = plt.axes([0.60, 0.05, 0.14, 0.08])\n",
    "decrease_roll_ax = plt.axes([0.75, 0.05, 0.14, 0.08])\n",
    "\n",
    "button_up = Button(up_ax, \"Up\")\n",
    "button_down = Button(down_ax, \"Bottom\")\n",
    "button_left = Button(left_ax, \"Left\")\n",
    "button_right = Button(right_ax, \"Right\")\n",
    "button_forward = Button(forward_ax, \"Forward\")\n",
    "button_backward = Button(backward_ax, \"Backward\")\n",
    "button_increase_pitch = Button(increase_pitch_ax, \"Increase\\nPitch\")\n",
    "button_decrease_pitch = Button(decrease_pitch_ax, \"Decrease\\nPitch\")\n",
    "button_increase_yaw = Button(increase_yaw_ax, \"Increase\\nYaw\")\n",
    "button_decrease_yaw = Button(decrease_yaw_ax, \"Decrease\\nYaw\")\n",
    "button_increase_roll = Button(increase_roll_ax, \"Increase\\nRoll\")\n",
    "button_decrease_roll = Button(decrease_roll_ax, \"Decrease\\nRoll\")\n",
    "\n",
    "button_up.on_clicked(on_button_up_clicked)\n",
    "button_down.on_clicked(on_button_down_clicked)\n",
    "button_left.on_clicked(on_button_left_clicked)\n",
    "button_right.on_clicked(on_button_right_clicked)\n",
    "button_forward.on_clicked(on_button_forward_clicked)\n",
    "button_backward.on_clicked(on_button_backward_clicked)\n",
    "button_increase_pitch.on_clicked(on_button_increase_pitch_clicked)\n",
    "button_decrease_pitch.on_clicked(on_button_decrease_pitch_clicked)\n",
    "button_increase_yaw.on_clicked(on_button_increase_yaw_clicked)\n",
    "button_decrease_yaw.on_clicked(on_button_decrease_yaw_clicked)\n",
    "button_increase_roll.on_clicked(on_button_increase_roll_clicked)\n",
    "button_decrease_roll.on_clicked(on_button_decrease_roll_clicked)\n"
   ]
  }
 ],
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